River interlocking block support integrated construction equipment and method under complex urban environment

Abstract

This application discloses an integrated construction equipment and method for interlocking block support in complex urban environments, relating to the technical field of interlocking block construction equipment. It includes a slope bottom support, a slope top support, and a brick-laying mechanical claw. A sliding rail support is provided between the slope bottom support and the slope top support. A water pump box is connected to the bottom of the slope bottom support, and a six-axis robotic arm is slidably connected within the sliding rail support. The brick-laying mechanical claw includes a fixed connecting frame, a gripping component, and a striking component. This invention, through multiple adjustable structures, allows the equipment to adapt to different river slope widths and slope inclination angles. It can drain accumulated water from the construction site and automatically clamp and lay the interlocking blocks using the six-axis robotic arm, thereby improving the laying efficiency. After laying, the interlocking blocks can be struck and compacted, resulting in a flatter surface and tighter joints.

Description

Technical Field

[0001] This application relates to the technical field of construction equipment for interlocking blocks in river channels, and more specifically, to integrated construction equipment and methods for interlocking block support in river channels under complex urban environments. Background Technology

[0002] The laying of interlocking blocks on river slopes is mainly to solve the problem of water and groundwater complementing each other, which plays a role in protecting the aquatic ecology around the river. However, current river slope protection projects mostly rely on manual laying of interlocking blocks, which is inefficient and has poor precision. Especially in complex terrain, problems such as uneven laying and loose joints are likely to occur. In recent years, some projects have attempted to introduce semi-mechanized equipment, such as simple hoisting machinery to assist in the handling of interlocking blocks. However, manual adjustment of positions is still required, and it is impossible to achieve automated arrangement and synchronous control of drainage. In addition, traditional construction is limited by the difficulty in real-time monitoring of water accumulation on the site, and the foundation softens due to untimely drainage, affecting the stability of the support structure. With the acceleration of urbanization, the demand for river management has surged, and there is an urgent need for an integrated solution that integrates intelligent drainage, adaptive leveling, and precise paving.

[0003] Therefore, in response to the aforementioned technical issues, an integrated construction equipment and method for interlocking block support of river channels in complex urban environments is proposed. Summary of the Invention

[0004] To address the aforementioned issues, this application provides integrated construction equipment and methods for interlocking block support of river channels in complex urban environments.

[0005] This application provides integrated construction equipment and method for interlocking block support of river channels in complex urban environments, adopting the following technical solution: An integrated construction equipment for interlocking block support of river channels in complex urban environments includes a slope bottom support, a slope top support, and a brick paving mechanical claw. A sliding rail support is provided between the slope bottom support and the slope top support. A water pump box is connected to the bottom of the slope bottom support, and a six-axis mechanical arm is slidably connected inside the sliding rail support. The brick-laying mechanical claw is connected to one end of a six-axis robotic arm. The brick-laying mechanical claw includes a fixed connecting frame, a gripping component, and a striking component. A gripping telescopic cylinder and a lifting switching motor box are sequentially arranged between the fixed connecting frame and the gripping component. The striking component includes a central pressing plate, two sets of side striking hammers, and a lifting connecting plate.

[0006] Preferably, an electric lifting platform is provided below both the bottom slope support and the top slope support. Folding connecting plates are connected inside both the bottom slope support and the top slope support through a rotating shaft. Folding motors are connected to the outside of both the bottom slope support and the top slope support. The output shaft of the folding motor is connected to one end of the folding connecting plate. The slide rail support is connected between the two sets of folding connecting plates.

[0007] By adopting the above technical solution, the tilt angle of the slide rail support can be adjusted according to the tilt angle of the river slope. The tilt angle of the slide rail support is adjusted by the tilting motor driving the tilting connecting plates on the bottom support and the top support of the slope, and the slide rail support is adjusted to a position parallel to the river slope.

[0008] Preferably, the bottom of the electric lifting platform is connected to a drive chassis, and the bottom of the drive chassis is connected to multiple sets of drive wheels. The water pump box is set between the slope bottom support and the electric lifting platform. The bottom of the water pump box is connected to a water pumping pipe, and a water pressure sensor is set on the outer side of the bottom end of the water pumping pipe. A drain pipe is connected to one side of the water pump box.

[0009] By adopting the above technical solutions, water accumulation at the construction site can be drained, making it suitable for complex and riverine water environments.

[0010] Preferably, the slide rail bracket is provided with a telescopic adjustment cylinder at one end near the bottom of the slope bracket, and a slide rail drive housing is provided at one end near the top of the slope bracket. Three sets of slider slide rails are provided on the inner side of the slide rail bracket, and a movable slider is provided between the six-axis robotic arm and the three sets of slider slide rails. A visual recognition camera is connected to the six-axis robotic arm.

[0011] By adopting the above technical solution, the slide rail bracket can achieve length compensation through telescopic adjustment cylinders, and the lateral telescopic adjustment length of the telescopic adjustment cylinders is 1-3 meters to be suitable for different river slope widths. Through multiple sets of adjustment structures, the equipment can be adapted to different river slope widths and slope inclination angles.

[0012] Preferably, the fixed connecting frame includes four sets of opening and closing connecting blocks and a central connecting plate, and the four sets of opening and closing connecting blocks are fixedly connected to the outside of the central connecting plate. The gripping assembly includes four sets of opening and closing gripping claws and a central opening and closing plate. The central opening and closing plate is provided with four sets of opening and closing slide rails, and the inner side of the opening and closing gripping claws is provided with opening and closing sliders that are slidably connected to the opening and closing slide rails.

[0013] Preferably, both the opening and closing connecting block and the opening and closing gripping claw are L-shaped, and one end of both the opening and closing connecting block and the opening and closing gripping claw is provided with a folding connecting groove. An opening and closing folding block is connected between adjacent opening and closing connecting blocks and opening and closing gripping claws, and the opening and closing folding block is connected in two sets of folding connecting grooves through a rotating shaft. The output shaft of the gripping telescopic cylinder is connected to the bottom of the central connecting plate.

[0014] Preferably, a lifting screw is connected between the lifting switching motor box and the central opening and closing plate, the lifting connecting plate is disposed between the lifting switching motor box and the central opening and closing plate, and a lifting nut seat that is threadedly connected to the lifting screw is disposed at the center of the lifting connecting plate, the central pressing plate is disposed at the bottom center of the lifting connecting plate, and two sets of side hammers are slidably connected to the bottom sides of the lifting connecting plate.

[0015] By adopting the above technical solution, a six-axis robotic arm can automatically clamp and lay the interlocking blocks, thereby improving the laying efficiency of the interlocking blocks. The gripping telescopic cylinder drives the central connecting plate and the fixed connecting frame connected to it to rise and fall. During the rising and falling process, the fixed connecting frame drives the opening and closing folding block to fold and slide. The opening and closing folding block can drive the opening and closing gripper to move. The opening and closing gripper slides on the opening and closing slide rail on the central opening and closing plate through the opening and closing slider. The four sets of opening and closing grippers open and close during the movement. They perform clamping actions when the fixed connecting frame rises and release actions when the fixed connecting frame falls.

[0016] Preferably, one end of the side hammer is connected to a striking plate, and a reciprocating transmission assembly is connected between the side hammer and the lifting connecting plate. The reciprocating transmission assembly includes a telescopic sleeve, a telescopic rod, a central drive shaft, and a drive crankshaft. The telescopic sleeve is connected to the inner wall of the lifting connecting plate, and the telescopic rod is inserted into the telescopic sleeve. The two ends of the central drive shaft are connected to the telescopic rod and the drive crankshaft respectively through rotating shafts.

[0017] Preferably, the top of the lifting connecting plate is provided with a striking machine box, and a striking drive motor is provided inside the striking machine box. A gearbox is connected to the output shaft of the striking drive motor, and both ends of the gearbox are connected to drive shafts. The drive shafts are connected to transmission shafts through two sets of universal joints, and one end of the transmission shaft is connected to one end of the drive crankshaft.

[0018] By adopting the above technical solution, the interlocking blocks can be hammered and pressed after laying, which makes the laid interlocking blocks flatter and the joints tighter. During the laying process, two sets of side hammers hammer the outer side of the interlocking blocks to tighten them, thereby making the connection between the interlocking blocks tighter. During the hammering process, the central pressing plate presses and limits the interlocking blocks to prevent them from being squeezed and bulging during the hammering process.

[0019] Preferably, a method for constructing an integrated interlocking block support system for river channels in complex urban environments includes the following steps: Step 1: First, set up a moving track on the riverbank where interlocking blocks need to be laid, and connect the bottom support and top support to the track at the top and bottom of the riverbank respectively. The height of the bottom support and top support can be adjusted by an electric lifting platform. Then, install the slide rail support between the bottom support and top support. The distance between the bottom support and top support can be adjusted by a telescopic adjustment cylinder, and the angle of the slide rail support can be adjusted by a folding motor. Step 2: Before laying, a water pipe is inserted into the river. When the water pressure is too high, the water pump in the pump box will pump out the excess water from the river and discharge it through the drain pipe. Step 3: The bottom and top supports of the slope drive the slide rail support and its internal six-axis robotic arm and brick paving robotic claw to move along the direction of the river track. When it moves to the paving position, the brick paving robotic claw grabs the interlocking block and lays the interlocking block on the river slope. The entire river slope paving work is completed during the movement. Step 4: During the laying process, two sets of side hammers are used to hammer the outer side of the interlocking blocks to tighten them, thereby making the connection between the interlocking blocks more tight. During the hammering process, the central pressing plate presses and limits the interlocking blocks to prevent them from being squeezed and bulging during the hammering process.

[0020] 1. Compared with existing technologies, the integrated construction equipment and method for interlocking block support of river channels in complex urban environments, through multiple sets of adjustable structures, enables the equipment to be applicable to different widths and inclination angles of river slopes. A moving track is erected on the river slope where interlocking blocks need to be laid, and the bottom and top supports are connected to the tracks at the top and bottom of the river slope, respectively. The height of the bottom and top supports can be adjusted via an electric lifting platform. Then, a sliding rail support is installed between the bottom and top supports, and the distance between them can be adjusted via a telescopic adjusting cylinder. Furthermore, the inclination angle of the sliding rail support can be adjusted according to the inclination angle of the river slope. The inclination angle of the sliding rail support is adjusted by a folding motor driving the folding connecting plates on the bottom and top supports, adjusting the sliding rail support to a position parallel to the river slope.

[0021] 2. Compared with existing technologies, the integrated construction equipment and method for interlocking block support in complex urban environments can drain accumulated water from the construction site and automatically clamp and lay the interlocking blocks using a six-axis robotic arm, thereby improving the laying efficiency. Before laying, a water pipe is inserted into the river, and the water pressure at the laying point is detected by a water pressure sensor. When the water pressure is too high, the excess water in the river is pumped out by a pump in the pump box. The slope bottom support and slope top support drive the slide rail support and its internal six-axis robotic arm and brick laying mechanical claw to move along the direction of the river track. When it moves to the laying position, the brick laying mechanical claw grabs the interlocking block and lays it on the river slope. The entire river slope laying work is completed during the movement.

[0022] 3. Compared with existing technologies, the integrated construction equipment and method for interlocking block support in complex urban environments can hammer and press the interlocking blocks after laying, making the laid interlocking blocks flatter and the joints tighter. During the laying process, two sets of side hammers hammer and tighten the outer side of the interlocking blocks, making the connection between the interlocking blocks tighter. During the hammering process, the central pressing plate presses and limits the interlocking blocks to prevent them from being squeezed and bulging during the hammering process. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of this application; Figure 2 This is a structural schematic diagram of the six-axis robotic arm in this application; Figure 3 A schematic diagram of the structure of the mechanical claw used for brick paving in this application; Figure 4 A structural schematic diagram of the front of the brick-laying mechanical claw of this application; Figure 5 A top-view structural diagram of the brick-laying mechanical claw in this application; Figure 6 This is a structural schematic diagram of the lifting and switching motor box in this application; Figure 7 This is a structural schematic diagram of the side striking hammer in this application; Figure 8 This is a schematic diagram of the structure of the impact drive motor in this application.

[0024] The attached diagram is labeled as follows: 1. Slope bottom support; 11. Pumping unit box; 111. Pumping pipe; 112. Drainage pipe; 113. Water pressure sensor; 2. Slope top support; 21. Folding connecting plate; 22. Electric lifting platform; 23. Drive chassis; 231. Drive wheel; 24. Folding motor; 3. Slide rail support; 31. Sliding slide rail; 32. Slide rail drive box; 33. Telescopic adjustment cylinder; 4. Six-axis robotic arm; 41. Moving slider; 42. Visual recognition camera; 5. Brick paving robotic claw; 51. Fixed connecting frame; 511. Opening and closing connecting block; 5111. Folding connecting groove; 512. Central connecting plate; 52. Gripping component; 521. 522. Opening and closing gripper; 5221. Opening and closing slide rail; 5222. Opening and closing slider; 523. Opening and closing folding block; 53. Gripping telescopic cylinder; 54. Lifting and switching motor box; 55. Striking assembly; 551. Center pressing plate; 552. Side striking hammer; 5521. Striking plate; 553. Lifting nut seat; 554. Striking machine box; 555. Reciprocating transmission assembly; 5551. Telescopic sleeve; 5552. Telescopic rod; 5553. Center drive shaft; 5554. Drive crankshaft; 556. Striking drive motor; 5561. Gearbox; 5562. Drive shaft; 5563. Transmission shaft; 557. Lifting connecting plate. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] The following is in conjunction with the appendix Figures 1-8 This application will be described in further detail below.

[0027] Integrated construction equipment and methods for interlocking block support of river channels in complex urban environments, including slope bottom support 1, slope top support 2, and brick paving mechanical claw 5, refer to Figure 1 and Figure 2 A slide rail support 3 is provided between the bottom support 1 and the top support 2. The bottom of the bottom support 1 is connected to the pump box 11, and a six-axis robotic arm 4 is slidably connected inside the slide rail support 3. The brick-laying mechanical claw 5 is connected to one end of the six-axis robotic arm 4. The brick-laying mechanical claw 5 includes a fixed connecting frame 51, a gripping component 52, and a striking component 55. A gripping telescopic cylinder 53 and a lifting switching motor box 54 are sequentially arranged between the fixed connecting frame 51 and the gripping component 52. The striking component 55 includes a central pressing plate 551, two sets of side striking hammers 552, and a lifting connecting plate 557. The slope bottom support 1, slope top support 2, and slide rail support 3 form the main frame of the construction equipment. All three are welded from Q345B high-strength steel, with a load-bearing capacity of 5 tons / m². 3 is connected between the bottom support 1 and the top support 2. Tracks for sliding of the bottom support 1 and the top support 2 can be laid at the top and bottom of the slope. Stacked interlocking blocks can be placed on the track path. The six-axis robotic arm 4 and the brick laying robotic claw 5 can slide and move on the slide rail support 3. The brick laying robotic claw 5 can be freely rotated and adjusted by the six-axis robotic arm 4. The brick laying robotic claw 5 can grab the interlocking blocks by the gripping component 52 and lay the gripped interlocking blocks on the riverbank protection. After laying, the interlocking blocks can be tapped by the tapping component 55, and the connection between the interlocking blocks is made tighter during the tapping process.

[0028] Reference Figure 1 An electric lifting platform 22 is installed below both the bottom support 1 and the top support 2. Folding connecting plates 21 are connected to the bottom support 1 and the top support 2 through a rotating shaft. Folding motors 24 are connected to the outside of both the bottom support 1 and the top support 2. The output shaft of the folding motor 24 is connected to one end of the folding connecting plate 21. The slide rail support 3 is connected between the two sets of folding connecting plates 21. The slide rail support 3 is connected to the folding connecting plate 21 by M16 bolts. The tilt angle of the slide rail support 3 can be adjusted according to the tilt angle of the river slope. The tilt angle of the slide rail support 3 is adjusted by the folding motor 24 driving the folding connecting plates 21 on the bottom support 1 and the top support 2 to adjust the slide rail support 3 to a position parallel to the river slope.

[0029] Reference Figure 1The bottom of the electric lifting platform 22 is connected to a drive chassis 23, and the bottom of the drive chassis 23 is connected to multiple sets of drive wheels 231. A water pump housing 11 is located between the slope support 1 and the electric lifting platform 22. A water pumping pipe 111 is connected to the bottom of the water pump housing 11, and a water pressure sensor 113 is installed on the outer side of the bottom end of the water pumping pipe 111. A drain pipe 112 is connected to one side of the water pump housing 11. The water pump housing 11 contains a water pump and a PLC control system box. The water pumping pipe 111 of the water pump housing 11 is flush with the lowest point of the laying, and the water pressure at the laying point can be detected by the water pressure sensor 113. The water pressure sensor 113 has a range of 0-1 MPa. Water drawn from water pipe 111 can be discharged through drain pipe 112. The slope bottom support 1 and slope top support 2 can be raised and lowered by electric lifting platform 22 and moved by drive wheels 231 of drive chassis 23. Electric lifting platform 22 is a common lifting mechanism. Electric lifting platform 22, slope bottom support or slope top support 2 and drive chassis 23 constitute a self-propelled lift similar to model DSSJYZ2018. The above equipment is commercially available and known to those skilled in the art. It can be customized or model selected according to actual needs. Here we are only using it and have not made any structural or functional improvements. We will not go into details here.

[0030] Reference Figure 1 The slide rail bracket 3 is equipped with a telescopic adjustment cylinder 33 at one end near the bottom support 1, and a slide rail drive housing 32 at the other end near the top support 2. Three sets of slider slide rails 31 are arranged inside the slide rail bracket 3, and a movable slider 41 is positioned between the six-axis robotic arm 4 and the three sets of slider slide rails 31. A visual recognition camera 42 is connected to the six-axis robotic arm 4. The slide rail bracket 3 can achieve length compensation through the telescopic adjustment cylinder 33, and the lateral telescopic adjustment length of the telescopic adjustment cylinder 33 is 1-3 meters to accommodate different river slope widths. The slide rail drive housing 3... 2 and the three sets of slider rails 31 can be driven by a screw or an electromagnetic chuck to move the slider 41. The six-axis robotic arm 4 can monitor and identify the position of the interlocking blocks and the laying position through a visual recognition camera 42. For some large-scale projects, a drone can be added for three-dimensional scanning. The above equipment is commercially available and known to those skilled in the art. It can be customized or selected according to actual needs. Here we are only using it and have not made any structural or functional improvements. We will not go into details here.

[0031] Reference Figure 2 and Figure 3The fixed connecting frame 51 includes four sets of opening and closing connecting blocks 511 and a central connecting plate 512, with the four sets of opening and closing connecting blocks 511 fixedly connected to the outside of the central connecting plate 512. The gripping assembly 52 includes four sets of opening and closing gripping claws 521 and a central opening and closing plate 522. The central opening and closing plate 522 is provided with four sets of opening and closing slide rails 5221, and the inner side of the opening and closing gripping claws 521 is provided with opening and closing sliders 5222 that slide against each other with the opening and closing slide rails 5221. Both the opening and closing connecting blocks 511 and the opening and closing gripping claws 521 are L-shaped, and one end of each opening and closing connecting block 5111 and opening and closing gripping claw 521 is provided with a folding connecting groove 5111. An opening and closing folding block 523 is connected between adjacent opening and closing connecting blocks 511 and opening and closing gripping claws 521, and the opening and closing folding block 523... The output shaft of the gripping telescopic cylinder 53 is connected to the bottom of the central connecting plate 512 via a rotating shaft connected to two sets of folding connecting slots 5111. The gripping telescopic cylinder 53 can drive the central connecting plate 512 and the fixed connecting frame 51 connected to it to rise and fall. During the rising and falling process, the fixed connecting frame 51 drives the opening and closing folding block 523 to fold and slide. The opening and closing gripping claw 521 can be moved by the opening and closing folding block 523. The opening and closing gripping claw 521 slides on the opening and closing slide rail 5221 on the central opening and closing plate 522 via the opening and closing slider 5222. The four sets of opening and closing gripping claws 521 open and close during the movement. They perform a clamping action when the fixed connecting frame 51 rises and a releasing action when the fixed connecting frame 51 falls.

[0032] Reference Figure 4 and Figure 5 A lifting screw 541 is connected between the lifting switching motor box 54 and the central opening and closing plate 522. A lifting connecting plate 557 is set between the lifting switching motor box 54 and the central opening and closing plate 522. A lifting nut seat 553 threadedly connected to the lifting screw 541 is set at the center of the lifting connecting plate 557. A central pressing plate 551 is set at the bottom center of the lifting connecting plate 557. Two sets of side hammers 552 are slidably connected to the bottom sides of the lifting connecting plate 557. The lifting switching motor box 54 is equipped with a motor for driving the lifting screw 541 and a PLC control system box. The motor drives the lifting screw 541 to rotate, and the lifting screw 541 can drive the lifting nut seat 553 and the lifting connecting plate 557 connected to it to move up and down, thereby moving the entire striking assembly 55 to the hammering position, thus switching the equipment to the hammering mode.

[0033] Reference Figure 6 and Figure 7One end of the side hammer 552 is connected to a striking plate 5521, and a reciprocating transmission assembly 555 connects the side hammer 552 and the lifting connecting plate 557. The reciprocating transmission assembly 555 includes a telescopic sleeve 5551, a telescopic rod 5552, a central drive shaft 5553, and a drive crankshaft 5554. The telescopic sleeve 5551 is connected to the inner wall of the lifting connecting plate 557, and the telescopic rod 5552 is inserted into the telescopic sleeve 5551. The two ends of the central drive shaft 5553 are connected to the telescopic rod 5552 and the drive crankshaft 5554 respectively via rotating shafts. The side hammer 552 strikes the target by striking the target. The striking plate 5521 strikes the side of the interlocking block. The striking plate 5521 is a silicone hammer. The side striking hammer 552 can perform reciprocating hammering action through the reciprocating transmission assembly 555. During the rotation of the drive crankshaft 5554, the drive crankshaft 5554 drives the central drive shaft 5553 to rotate. During the rotation of the central drive shaft 5553, the telescopic rod 5552 moves telescopically within the telescopic sleeve 5551. During the telescopic movement of the telescopic rod 5552, the side striking hammer 552 performs hammering action.

[0034] Reference Figure 7 and Figure 8 A striking housing 554 is installed on the top of the lifting connecting plate 557, and a striking drive motor 556 is installed inside the striking housing 554. A gearbox 5561 is connected to the output shaft of the striking drive motor 556, and drive shafts 5562 are connected to both ends of the gearbox 5561. The drive shafts 5562 are connected to transmission shafts 5563 through two sets of universal joints, and one end of the transmission shaft 5563 is connected to one end of the drive crankshaft 5554. The striking drive motor 556 inside the striking housing 554 drives the gearbox 5561 to drive the two sets of drive shafts 5562 to rotate synchronously, and the drive shafts 5562 are driven to rotate synchronously by the gearbox 5561. The moving shaft 5562 drives the transmission shaft 5563 to rotate through two sets of universal joints. In the process of rotation, the transmission shaft 5563 drives the drive crankshaft 5554 to rotate. The connection structure and driving method of the gearbox 5561 and the two sets of drive shafts 5562 are existing mature technologies. For example, the dual-shaft gearbox with publication number CN220248873U or the dual-shaft concentric bidirectional constant speed rotating gearbox for straw crushing and returning machine with publication number CN111972118A both have a dual-shaft drive structure. The specific working principle and working process will not be described in detail here.

[0035] As a preferred embodiment, a method for constructing an integrated construction device for interlocking block support of river channels in complex urban environments includes the following steps: Step 1: First, set up a moving track on the riverbank where interlocking blocks need to be laid, and connect the bottom support 1 and the top support 2 to the track at the top and bottom of the riverbank respectively. The height of the bottom support 1 and the top support 2 can be adjusted by the electric lifting platform 22. Then, install the slide rail support 3 between the bottom support 1 and the top support 2. The distance between the bottom support 1 and the top support 2 can be adjusted by the telescopic adjustment cylinder 33, and the angle of the slide rail support 3 can be adjusted by the folding motor 24. Step 2: Before laying, the water pipe 111 is inserted into the water in the river. When the water pressure is too high, the water pump in the pump box 11 will pump out the excess water in the river and discharge the pumped water through the drain pipe 112. Step 3: The bottom support 1 and the top support 2 drive the slide rail support 3, as well as the six-axis robotic arm 4 and the brick paving robotic claw 5 inside it to move along the direction of the river track. When it moves to the paving position, the brick paving robotic claw 5 grabs the interlocking block and lays the interlocking block on the river slope. The entire river slope paving work is completed during the movement. Step 4: During the laying process, two sets of side hammers 552 are used to hammer and tighten the outer side of the interlocking blocks, so that the connection between the interlocking blocks is tighter. During the hammering process, the central pressing plate 551 presses and limits the interlocking blocks to prevent them from being squeezed and bulging during the hammering process.

[0036] The working process of this application is as follows: First, a moving track is erected on the riverbank where interlocking blocks need to be laid, and the bottom support 1 and the top support 2 are connected to the track at the top and bottom of the riverbank respectively. The height of the bottom support 1 and the top support 2 can be adjusted by the electric lifting platform 22. Then, the slide rail support 3 is installed between the bottom support 1 and the top support 2, and the distance between the bottom support 1 and the top support 2 can be adjusted by the telescopic adjustment cylinder 33. The tilt angle of the slide rail support 3 can be adjusted according to the tilt angle of the riverbank. The tilt angle of the slide rail support 3 is adjusted by the folding motor 24 driving the folding connecting plate 21 on the bottom support 1 and the top support 2, and the slide rail support 3 is adjusted to a position parallel to the riverbank. Before laying, the water pipe 111 is inserted into the water of the river channel, and the water pressure at the laying point can be detected by the water pressure sensor 113. When the water pressure is too high, the water pump in the pump box 11 will pump out the excess water in the river channel, and the pumped water will be discharged through the drain pipe 112. The bottom support 1 and the top support 2 can drive the slide rail support 3 and the six-axis mechanical arm 4 and the brick laying mechanical claw 5 inside it to move along the direction of the river channel track. The bottom support 1 and the top support 2 can be moved by the drive wheels 231 of the drive chassis 23. When they move to the laying position, the brick laying mechanical claw 5 will grab the interlocking block and lay the interlocking block on the river channel slope. The entire river channel slope laying work is completed during the movement. The six-axis robotic arm 4 can slide on three sets of slider rails 31 inside the slide rail drive housing 32 via the movable slider 41. The six-axis robotic arm 4 can monitor and identify the position of the interlocking block and the laying position via the visual recognition camera 42. The gripping telescopic cylinder 53 can drive the central connecting plate 512 and the fixed connecting frame 51 connected to it to lift and lower. During the lifting and lowering process, the fixed connecting frame 51 drives the opening and closing folding block 523 to fold and slide. The opening and closing gripping claw 521 can be moved by the opening and closing folding block 523. The opening and closing gripping claw 521 slides on the opening and closing slide rail 5221 on the central opening and closing plate 522 via the opening and closing slider 5222. The four sets of opening and closing gripping claws 521 open and close during the movement. During the laying process, the two sets of side hammers 552 of the hammering component 55 hammer the outside of the interlocking block to tighten it, thereby making the connection between the interlocking blocks tighter. First, the motor drives the lifting screw 541 to rotate, and the lifting screw 541 can drive the lifting nut seat 553 and the lifting connecting plate 557 connected to it to move up and down, thereby moving the entire hammering component 55 to the hammering position, thus switching the equipment to the hammering mode. The striking drive motor 556 inside the striking housing 554 drives the gearbox 5561 to drive two sets of drive shafts 5562 to rotate synchronously. The drive shafts 5562 drive the transmission shaft 5563 to rotate through two sets of universal joints. During the rotation of the transmission shaft 5563, the drive crankshaft 5554 rotates. The drive crankshaft 5554 rotates, which in turn drives the central drive shaft 5553 to rotate. During the rotation of the central drive shaft 5553, the telescopic rod 5552 moves telescopically within the telescopic sleeve 5551. During the telescopic movement of the telescopic rod 5552, the side striking hammers 552 perform a striking action. During the striking process, the central pressing plate 551 presses and limits the interlocking block to prevent it from being squeezed and protruding during the striking process.

[0037] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be included within the scope of protection of this application.

Claims

1. An integrated construction equipment for interlocking block support of river channels in complex urban environments, comprising a slope bottom support (1), a slope top support (2), and a brick paving mechanical claw (5), characterized in that: A slide rail bracket (3) is provided between the slope bottom bracket (1) and the slope top bracket (2). A water pump box (11) is connected to the bottom of the slope bottom bracket (1), and a six-axis robotic arm (4) is slidably connected inside the slide rail bracket (3). The brick-laying mechanical claw (5) is connected to one end of the six-axis robotic arm (4), and the brick-laying mechanical claw (5) includes a fixed connecting frame (51), a gripping component (52), and a striking component (55). A gripping telescopic cylinder (53) and a lifting switching motor box (54) are arranged sequentially between the fixed connecting frame (51) and the gripping component (52). The striking component (55) includes a central pressing plate (551), two sets of side striking hammers (552), and a lifting connecting plate (557).

2. The integrated construction equipment for interlocking block support of river channels in complex urban environments according to claim 1, characterized in that: An electric lifting platform (22) is provided below both the bottom support (1) and the top support (2). Folding connecting plates (21) are connected inside both the bottom support (1) and the top support (2) via rotating shafts. Folding motors (24) are connected to the outside of both the bottom support (1) and the top support (2). The output shaft of the folding motor (24) is connected to one end of the folding connecting plate (21). The slide rail support (3) is connected between the two sets of folding connecting plates (21).

3. The integrated construction equipment for interlocking block support of river channels in complex urban environments according to claim 2, characterized in that: The bottom of the electric lifting platform (22) is connected to a drive chassis (23), and the bottom of the drive chassis (23) is connected to multiple sets of drive wheels (231). The pump box (11) is set between the slope bottom support (1) and the electric lifting platform (22). The bottom of the pump box (11) is connected to a pumping pipe (111), and a water pressure sensor (113) is set on the outer side of the bottom end of the pumping pipe (111). A drain pipe (112) is connected to one side of the pump box (11).

4. The integrated construction equipment for interlocking block support of river channels in complex urban environments according to claim 1, characterized in that: The slide rail bracket (3) is provided with a telescopic adjustment cylinder (33) at one end near the bottom of the slope bracket (1), and a slide rail drive housing (32) is provided at one end near the top of the slope bracket (2). Three sets of slider slide rails (31) are provided on the inner side of the slide rail bracket (3), and a movable slider (41) is provided between the six-axis robotic arm (4) and the three sets of slider slide rails (31). A visual recognition camera (42) is connected to the six-axis robotic arm (4).

5. The integrated construction equipment for interlocking block support of river channels in complex urban environments according to claim 1, characterized in that: The fixed connecting frame (51) includes four sets of opening and closing connecting blocks (511) and a central connecting plate (512), and the four sets of opening and closing connecting blocks (511) are fixedly connected to the outside of the central connecting plate (512). The gripping component (52) includes four sets of opening and closing gripping claws (521) and a central opening and closing plate (522). The central opening and closing plate (522) is provided with four sets of opening and closing slide rails (5221). The inner side of the opening and closing gripping claws (521) is provided with opening and closing sliders (5222) that slide and connect with the opening and closing slide rails (5221).

6. The integrated construction equipment for interlocking block support of river channels in complex urban environments according to claim 5, characterized in that: Both the opening and closing connecting block (511) and the opening and closing gripping claw (521) are L-shaped, and one end of both the opening and closing connecting block (5111) and the opening and closing gripping claw (521) is provided with a folding connecting groove (5111). An opening and closing folding block (523) is connected between adjacent opening and closing connecting blocks (511) and opening and closing gripping claws (521), and the opening and closing folding block (523) is connected in two sets of folding connecting grooves (5111) through a rotating shaft. The output shaft of the gripping telescopic cylinder (53) is connected to the bottom of the central connecting plate (512).

7. The integrated construction equipment for interlocking block support of river channels in complex urban environments according to claim 6, characterized in that: A lifting screw (541) is connected between the lifting switching motor box (54) and the central opening and closing plate (522). The lifting connecting plate (557) is located between the lifting switching motor box (54) and the central opening and closing plate (522). A lifting nut seat (553) that is threadedly connected to the lifting screw (541) is provided at the center of the lifting connecting plate (557). The central pressing plate (551) is located at the bottom center of the lifting connecting plate (557). Two sets of side hammers (552) are slidably connected to the bottom sides of the lifting connecting plate (557).

8. The integrated construction equipment for interlocking block support of river channels in complex urban environments according to claim 7, characterized in that: One end of the side hammer (552) is connected to a striking plate (5521), and a reciprocating transmission assembly (555) is connected between the side hammer (552) and the lifting connecting plate (557). The reciprocating transmission assembly (555) includes a telescopic sleeve (5551), a telescopic rod (5552), a central drive shaft (5553), and a drive crankshaft (5554). The telescopic sleeve (5551) is connected to the inner wall of the lifting connecting plate (557), and the telescopic rod (5552) is inserted into the telescopic sleeve (5551). The two ends of the central drive shaft (5553) are connected to the telescopic rod (5552) and the drive crankshaft (5554) respectively through a rotating shaft.

9. The integrated construction equipment for interlocking block support of river channels in complex urban environments according to claim 8, characterized in that: The top of the lifting connecting plate (557) is provided with a striking machine housing (554), and a striking drive motor (556) is provided inside the striking machine housing (554). A gearbox (5561) is connected to the output shaft of the striking drive motor (556), and both ends of the gearbox (5561) are connected to a drive shaft (5562). The drive shaft (5562) is connected to a transmission shaft (5563) through two sets of universal joints, and one end of the transmission shaft (5563) is connected to one end of the drive crankshaft (5554).

10. A construction method for an integrated construction equipment for interlocking block support in complex urban environments, employing the integrated construction equipment for interlocking block support in complex urban environments as described in any one of claims 1-9, characterized in that: The method includes the following steps: Step 1: First, set up a moving track on the riverbank where interlocking blocks need to be laid, and connect the bottom support (1) and top support (2) to the top and bottom tracks of the riverbank respectively. The height of the bottom support (1) and top support (2) can be adjusted by the electric lifting platform (22). Then, install the slide rail support (3) between the bottom support (1) and top support (2). The distance between the bottom support (1) and top support (2) can be adjusted by the telescopic adjustment cylinder (33). The angle of the slide rail support (3) can be adjusted by the folding motor (24). Step 2: Before laying, the water pipe (111) is inserted into the water of the river. When the water pressure is too high, the water pump in the pump box (11) is used to pump out the excess water in the river. The pumped water is discharged through the drain pipe (112). Step 3: The bottom support (1) and top support (2) drive the slide rail support (3) and its internal six-axis robotic arm (4) and brick paving robotic claw (5) to move along the direction of the river track. When it moves to the paving position, the brick paving robotic claw (5) grabs the interlocking block and lays the interlocking block on the river slope. The entire river slope paving work is completed during the movement. Step 4: During the laying process, two sets of side hammers (552) are used to hammer and tighten the outer side of the interlocking blocks, so that the connection between the interlocking blocks is tighter. During the hammering process, the central pressing plate (551) presses and limits the interlocking blocks to prevent them from being squeezed and protruding during the hammering process.

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